# -*- python -*-
#
# Copyright INRIA - CIRAD - INRA
#
# Distributed under the Cecill-C License.
# See accompanying file LICENSE.txt or copy at
# http://www.cecill.info/licences/Licence_CeCILL-C_V1-en.html
#
# ==============================================================================
import json
import cv2
import numpy
# =============================================================================
__all__ = ["CalibrationCameraOpenCv"]
# ==============================================================================
[docs]
class CalibrationCameraOpenCv(object):
[docs]
def __init__(self):
self.focal_matrix = numpy.zeros((3, 3))
self.distortion_coefficient = numpy.zeros((5, 1))
self.rotation_vectors = dict()
self.translation_vectors = dict()
def __str__(self):
my_str = ""
my_str += "Focal Matrix : \n" + str(self.focal_matrix) + "\n\n"
my_str += (
"Distortion Coefficient : \n" + str(self.distortion_coefficient) + "\n\n"
)
for angle in self.rotation_vectors:
if self.rotation_vectors[angle] is not None:
my_str += "Angle : %d - rot : %f, %f, %f \n" % (
angle,
self.rotation_vectors[angle][0][0],
self.rotation_vectors[angle][1][0],
self.rotation_vectors[angle][2][0],
)
else:
my_str += "Angle : %d - rot : None \n" % angle
for angle in self.translation_vectors:
if self.translation_vectors[angle] is not None:
my_str += "Angle : %d - trans : %f, %f, %f \n" % (
angle,
self.translation_vectors[angle][0][0],
self.translation_vectors[angle][1][0],
self.translation_vectors[angle][2][0],
)
else:
my_str += "Angle : %d - trans : None \n" % angle
return my_str
def calibrate(self, ref_target_points_2d, ref_target_points_local_3d, size_image):
image_points = list()
object_points = list()
for id_view in ref_target_points_2d:
corners = ref_target_points_2d[id_view].astype(numpy.float32)
image_points.append(corners)
pts_3d = numpy.array(ref_target_points_local_3d)
pts_3d = pts_3d.astype(numpy.float32)
object_points.append(pts_3d)
# create initial cameraMatrix and distortion coefficient
camera_matrix = numpy.zeros((3, 3), dtype=numpy.float32)
distortion_coefficient = numpy.zeros((5, 1), numpy.float32)
# Convert list to numpy array
image_points = numpy.array(image_points)
object_points = numpy.array(object_points)
ret, focal_matrix, distortion_coefficient, rvecs, tvecs = cv2.calibrateCamera(
object_points,
image_points,
size_image,
camera_matrix,
distortion_coefficient,
flags=cv2.CALIB_ZERO_TANGENT_DIST
+ cv2.CALIB_FIX_K1
+ cv2.CALIB_FIX_K2
+ cv2.CALIB_FIX_K3
+ cv2.CALIB_FIX_K4
+ cv2.CALIB_FIX_K5
+ cv2.CALIB_FIX_K6,
)
# cv2.CALIB_FIX_PRINCIPAL_POINT +
self.focal_matrix = focal_matrix
self.distortion_coefficient = distortion_coefficient
i = 0
for id_view in ref_target_points_2d:
self.rotation_vectors[id_view] = rvecs[i]
self.translation_vectors[id_view] = tvecs[i]
i += 1
def get_projection(self, id_view):
def project_points(pts):
pts = pts.astype(numpy.float32)
projected_pts, _ = cv2.projectPoints(
pts,
self.rotation_vectors[id_view],
self.translation_vectors[id_view],
self.focal_matrix,
self.distortion_coefficient,
)
return projected_pts[:, 0, :]
return lambda pt3d: project_points(pt3d)
def dump(self, file_path):
save_class = dict()
fm = self.focal_matrix.reshape((9,)).tolist()
save_class["focal_matrix"] = fm
dc = self.distortion_coefficient.reshape((5,)).tolist()
save_class["distortion_coefficient"] = dc
rv = dict()
for angle in self.rotation_vectors:
rv[angle] = self.rotation_vectors[angle].reshape((3,)).tolist()
save_class["rotation_vectors"] = rv
tv = dict()
for angle in self.translation_vectors:
tv[angle] = self.translation_vectors[angle].reshape((3,)).tolist()
save_class["translation_vectors"] = tv
with open(file_path + ".json", "w") as output_file:
json.dump(save_class, output_file)
@staticmethod
def load(file_path):
with open(file_path + ".json", "r") as input_file:
save_class = json.load(input_file)
fm = (
numpy.array(save_class["focal_matrix"])
.reshape((3, 3))
.astype(numpy.float32)
)
dc = (
numpy.array(save_class["distortion_coefficient"])
.reshape((5, 1))
.astype(numpy.float32)
)
rv = dict()
for angle in save_class["rotation_vectors"]:
rv[float(angle)] = (
numpy.array(save_class["rotation_vectors"][angle])
.reshape((3, 1))
.astype(numpy.float32)
)
tv = dict()
for angle in save_class["translation_vectors"]:
tv[float(angle)] = (
numpy.array(save_class["translation_vectors"][angle])
.reshape((3, 1))
.astype(numpy.float32)
)
c = CalibrationCameraOpenCv()
c.focal_matrix = fm
c.rotation_vectors = rv
c.translation_vectors = tv
c.distortion_coefficient = dc
return c
